
#ifndef _CAMERA_CAL_ROBUST_GEOMETRY_
#define _CAMERA_CAL_ROBUST_GEOMETRY_

#include "PinholeCamera.h"
#include "Geometry.h"

namespace CameraCalN
{

	bool SelfCalibrateRANSAC(Matrix3dC& E, 
		Matrix3dC& K0,
		Matrix3dC& K1,
		CalObservation2dArrayC& obs0,
		CalObservation2dArrayC& obs1,
		const Vector2dC& c0,
		const Vector2dC& c1,
		RealT sy0,
		RealT sy1);


}


#endif
